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DRV8701: over current protection

Part Number: DRV8701

Does all of the motor current pass through the resistor from SP to SN?  Using their formulas, an rsense of .01 would allow 24.75Amps before triggering a limit.  At that point, if all the current is going through the resistor, it needs to handle 6.125 Amps (not derated).  

Being the main driver for the Pololu G2 High Power motor driver, I contacted one of their engineers who only said that they full current doesn't go through sense, is this true?  It seems like you need a large power resistor but that seems impractical.